Safety Related Operation; Joint Movement Without Drive Power; During An Emergency Stop Procedure; Extending The Robot From The Packing Pose - Omron Techman Robot Safety Manual

3. Safety Related Operation

These are the operating instructions for Safety-related robot functions and designs.

Joint Movement without Drive Power

The conditions of robot without driving force are emergency stop, start up from the packing pose, and loss of power.
The first two can enter Safe Start up Mode when the emergency switch resets, and the latter is the situation when
the robot loses external power entirely. The following describes how to operate it:

During an Emergency Stop Procedure

The brake of each joint axis will automatically lock the joint, to avoid unlimited sagging of the robot's joints
due to gravity. If you need to move the robot to resolve the condition, follow the steps listed below:
1. Releasing the Emergency Switch energizes the power to the robot.
2. Wait 10 seconds to enter the Safe Start Up Mode. The Indication Light Ring will turn light blue.
3. Press the FREE button continuously to release the joint axis brake and move the robot.
4. After the situation is resolved, press the stop button on the Robot Stick for about three seconds, the
robot will perform the calibration startup process and return to the original operating mode.
CAUTION:
All personnel should be outside of the robot's operational space (areas that robot can reach)
when recovering from the emergency stop.

Extending the Robot from the Packing Pose

Refer to the Software Manual for the operation of extending the robot from the Packing Pose. The
emergency stop reset method is in Section 2.3.1.
DANGER:
When using the FREE button to release brakes without motor power, the robot may sag due
to gravity. Be prepared to support the robot system. If it not possible to support the robot
system, release the FREE button immediately, which will lock the robot joint brakes.

Power Loss

If power loss to an end-effector can result in a hazardous condition (e.g. dropping of a workpiece), possible
methods to reduce the risk may include but are not limited to:
Use the 24V electrical output provided by the control box to supply the power to end effector instead
•
of using the End Module of robot to supply power.
Install an independent power supply for the end effector.
•
If the end effector is a pneumatic control, use a low potential actuation design.
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